#pragma once

#include <torch/torch.h>
#include <tuple>
#include "Constants.h"

torch::Tensor quatToRotMat(const torch::Tensor& vQuat);
std::tuple<torch::Tensor, torch::Tensor, float> autoScaleAndCenterPoses(const torch::Tensor& vPoses);
torch::Tensor rotationMatrix(const torch::Tensor& vTensorA, const torch::Tensor& vTensorB);
torch::Tensor rodriguesToRotation(const torch::Tensor& vRodrigues);